SOBRE EL QUÉ, EL CÓMO Y CON QUIÉN

In [43] a simple robot is used to monitor an environment. In autonomous mode, the robot wanders about the environment while avoiding obstacles, and in manual mode, a user can move the robot in any desired direction while viewing images from the onboard camera.

In [44] a robot can autonomously navigate the environment and report a fire or intruder event to a mobile phone or client computer. The robot also has two modes of manual control; direct control and behavior control, in which the user can control the robot over the internet. In [45] the same robot is used to control appliances using and RF module, and in [46] another robot is similarly used to detect intruders and capture images of the intruder. The user can also manipulate the robot over the internet through a wireless network and control electrical devices at home using an RF transmitter and receiver.

In [47] and [48], a service-oriented architecture is used to design and implement a system and three robots. The robots can autonomously navigate to map the environment. Once mapping is done, the robot will navigate the environment to detect the presence of new objects or intruders. When a new object is detected the robot sends a warning signal to the control center, and when an intruder is detected, the robot moves towards the intruder and allows him/her to enter the correct passcode, failing which will trigger the alarm.

In [49] and [50] a sensor network incorporating different types of sensors is used to detect fire, intrusion and other events. When an event is detected by the one or more sensors, the robot is moved to the event location using triangulation and dead-reckoning using cricket nodes fixed to the ceiling. After arriving at the event location, the robot starts transmitting images to the server which in turn forwards them to the user. When the user is notified, he/she has the ability to give instructions to the system. The paper, however, does not outline what commands the user can give to the system. In [51] a number of sensor nodes are also used to detect events. When an event is detected, the robot navigates to its location and transmits images to

the user. The paper emphasizes on the robot design rather than the security operation of the robot.

Many surveillance robots have been mentioned in the literature. These robots take on the general action of ‘Monitor & Report’. They work autonomously and when an event occurs, the user can command the robot with varying degrees of control. In [52] a robot is equipped with a robotic arm as well as several sensors to detect fire, smoke or gas leak. The robot monitors the environment and sends a text message to the user when an event occurs. The user can then control the robot using his/her mobile phone. In [53] a robot is designed to detect intruders using a body sensor and in [54] and [55] a home security robot is used to detect events such as a fire, gas leak or intruders. In all of these robots, when an event is detected an alert is sent over the internet and the user can also control the robot over the internet through a user interface showing the camera image and the sensor readings for [53] and [54]. The robot in [55], however, has no camera installed. In [56] , the robot is provided with face detection capability in order to track the face of an intruder and possibly follow him/her. The user would be notified of the intrusion and images would be sent to the user’s mobile phone or PDA.

In [57] a security robot following a predesigned route is assisted by two fixed cameras to monitor a location and notifies the user through MSN or Facebook when an intruder is detected. The robot can also be controlled via a smart phone or website over a Wi-Fi network to move to a desired location to acquire real-time images of a certain view. In [58] a system of surveillance cameras and mobile robots are deployed to protect an oil facility in South Korea. The system consists of stationary robots for surveillance and tracking as well as mobile robots for surveillance over large fields. The mobile robots can patrol a specific area autonomously. When flame or gas leak is detected, the operators are notified; the operators can then control the mobile robots from their consoles.

In [59] and [60] RFID tags are used to localize the robot which follows a pre- determined path and uses two cameras to monitor a home or another location. If an intruder is detected, the robot notifies the user through MSN and SMS. The user can

use his mobile phone to navigate the robot a particular destination to verify the intruder or for any other purpose.

In [61] a robot system is proposed in which RFID tags are used to identify authorized personnel which are allowed to control the robot. The robot is equipped with a normal camera for daylight operations and an infrared camera for night time operations. The robot has an autonomous and a manual mode of operation, in which it can be controlled using RF signals.

In [62] a robot is equipped with a video camera, a microphone, a laser scanner, a motion sensor and a bumper. The robot localizes itself using triangulation based on two IR tags mounted on the ceiling and an onboard infrared sensor. The robot can either work autonomously or be controlled by user using a smart phone.

In [63] a spherical robot is equipped with two cameras that provide 360 degree vision. The robot is equipped with an ‘Adjustable Autonomy’ control architecture which allows changing the level of autonomy the robot is equipped with. The robot can be used for security surveillance, human search and rescue as well as disaster area inspection.

Autonomous robots with manual override capability provide a good option for security operators to intervene when a situation requires their attention or a certain decisive action, however the main drawback being the possible hostile takeover by an adversary (hacking) resulting in a neutralization or even using the robot against its own purpose.